@Article{Forster17troSVO,
  author        = {Christian Forster and Zichao Zhang and Michael Gassner and
                  Manuel Werlberger and Davide Scaramuzza},
  title         = {{SVO}: Semidirect Visual Odometry for Monocular and
                  Multicamera Systems},
  journal       = {{IEEE} Trans. Robot.},
  year          = 2017,
  volume        = 33,
  number        = 2,
  pages         = {249--265},
  doi           = {10.1109/TRO.2016.2623335}
}
